Information-theoretic Approaches Based on Sequential Monte Carlo to Collaborative Distributed Sensors for Mobile Robot Localization

We consider the Sequential Monte Carlo (SMC) method for Bayesian inference applied to the problem of information-theoretic distributed sensor collaboration in complex environments. The robot kinematics and sensor observation under consideration are described by nonlinear models. The exact solution to this problem is prohibitively complex due to the nonlinear nature of the system. The SMC method is, therefore, employed to track the probabilistic kinematics of the robot and to make the corresponding Bayesian estimates and predictions. To meet the specific requirements inherent in distributed sensors, such as low-communication consumption and collaborative information processing, we propose a novel SMC solution that makes use of the particle filter technique for data fusion, and the density tree representation of the a posterior distribution for information exchange between sensor nodes. Meanwhile, an efficient numerical method is proposed for approximating the information utility in sensor selection. A further experiment, obtained with a real robot in an indoor environment, illustrates that under the SMC framework, the optimal sensor selection and collaboration can be implemented naturally, and significant improvement in localization accuracy is achieved when compared to conventional methods using all sensors.     

基于SH4 7751开发平台的Linux移植

描述了将Linux2.6内核移植到新开发板上的方法与过程,并且通过实际项目实践来验证,重点突出了代码构架及相关编码.     

模糊C-均值(FCM)聚类算法的实现

传统的FCM算法能够将靠近边界的具有固有形状的两个簇合并成为一个大的簇.然而,对于一些稍微复杂的数据,如果没有其它的像去除小簇之类的机制的话,FCM算法很难将非常接近的类聚类到一起.给出的聚类算法是在传统FCM算法的循环之后添加了去除掉空簇的步骤,解决了上述很难将非常接近的类聚到一个簇中的问题.另外,为便于选出最优结果,在递归之后又添加了计算聚类有效性的步骤.最后用Java实现了该算法并在数据集上进行了实验,证实了改进方法的有效性.     

无码间串扰传输特性动态仿真分析与研究

码间串扰和信道噪声是影响基带传输系统性能的两个主要因素。因此,如何消除它们的影响,使系统的误码率达到规定的要求是数字基带系统中必须研究的两个问题。奈奎斯特第一准则为消除码间串扰奠定了理论基础。本文将以此为依据,通过使用Systemview和MATLAB软件实现对基带传输系统的仿真,并根据所得图形从消除码间串扰的角度来定性地分析无码间串扰系统函数的传输特性。实验中所得结果将对我们的理解和实践均有一定的指导作用。     

Controllability of multi-agent systems based on agreement protocols

This paper investigates the controllability of multi-agent systems based on agreement protocols. First, for a group of single-integrator agents, the controllability is studied in a unified framework for both networks with leader-following structure and networks with undirected graph. Some new necessary/sufficient conditions for the controllability of networks of single-integrator agents are established. Second, we prove that, under the same topology and same prescribed leaders, a network of high-order dynamic agents is completely controllable if and only if so is a network of single-integrator agents. Third, how the selection of leaders and the coupling weights of graphs affect the controllability is analyzed. Finally, some numerical simulations are presented to demonstrate the effectiveness of the theoretical results.     

NAND Flash的驱动程序设计

以三星公司K9F2808UOB为例,设计了NAND Flash与S3C2410的接口电路,介绍了NAND Flash在ARM嵌入式系统中的设计与实现方法,并在U-Boot上进行了验证。所设计的驱动易于移植,可简化嵌入式系统开发。     

基于WinCE6.0的LPC3250串口驱动程序开发

LPC3250微控制器具有很好的市场前景,基于它的硬件平台进行WinCE6.0的串口驱动开发是个难点。本文简单介绍了WinCE6.0的串口驱动模型;结合LPC3250串口的特殊性,详细说明在串口驱动开发的具体实现过程中如何配置串口相关的寄存器和处理中断;并分析了相关的部分源代码、注册表和Source文件。该驱动程序的实现为各种串口驱动开发提供了方便,经过测试,该设计方案是正确可行的。     

跨信任域授权模型

分析ISO10181访问控制框架与权限管理基础设施PMI,提出了跨信任域的授权模型CTRA.并用可信的边界安全网关实现该模型,解决了跨不同信任域的信任与授权问题,建立了跨不同安全域的信息交换与共享的可信计算平台.     

基于可预测性组件技术的软件组装

在分析可预测组件技术及其实例COMTEK-λ技术的基础上,详细剖析了COMTEK-λ技术的优点和不足,并给出了一个PECT(可预测组件技术)的实例,该实例结合了组件技术(COMTEK)以及用来预测端到端延迟的延迟预测分析模型.采用COMTEK-λ技术构建组件库的方法从动态控制软件的质量出发,以较低的精力和成本构建一个高可靠,高性能的基于组件的软件系统.     

服务接触中的不公平事件：从顾客的角度

This study was designed to answer several key questions regarding the service injustice customers perceived during the service delivery. Using the critical incident technique, the authors collected 195 unfair incidents from a variety of service organizations. The initial sorting of the incidents resulted in four major groups: information asymmetry, unfair procedure, inappropriate attitudes and manners of the service personnel, and unfair outcomes. Within the four major classifications of critical incidents, 13 secondary categories were identified. A further analysis was conducted to discover the underlying reason why customers feel unfair in the service encounters. Finally, some implications for service managers were discussed.